#include "visualkukarobotdll.h"
#include "visualkukarobotinstance_global.h"

VisualKUKARobotDLL::VisualKUKARobotDLL(){
    PLU_KPluginInstanceCreate(LOCALCONTOLLER);
}


VisualKUKARobotDLL::~VisualKUKARobotDLL(){
    PLU_KPluginInstanceDelete();
}

QWidget* VisualKUKARobotDLL::RegisiterPluginUi(){
    return PLU_KPluginInstanceUiRegesiter();
}

void VisualKUKARobotDLL::FastTimerLoop(){
    TASK_uifast_UiDataUpdate();
    TASK_uifast_ForceScopeUpdate();
    TASK_uifast_RobotScopeUpdate();
    TASK_uifast_LaserScopeUpdate();
}
void VisualKUKARobotDLL::SlowTimerLoop(){

}

void VisualKUKARobotDLL::RegisterMainInitTask(){
    TASK_maininit_ForceSensorConnect();
    TASK_maininit_LaserSensorConnect();
}
void VisualKUKARobotDLL::RegisterMainLoopTask(){
    TASK_mainloop_ForceSensorLoopRun();
    TASK_mainloop_LaserSensorLoopRun();
}

void VisualKUKARobotDLL::RegisterKUKAInitTask(){

}
void VisualKUKARobotDLL::RegisterKUKALoopTask(){
    TASK_kukaloop_KUKADataProcess();
}


void VisualKUKARobotDLL::BackendDataRecv(QByteArray Data){
//    TASK_RemoteDataRecv(Data);
}
void VisualKUKARobotDLL::BackendDataSend(QByteArray& Data){
//    TASK_RemoteDataSend(Data);
}
